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Endoscopic camera for surgical navigation and 3D visualization requires precise and stable estimates of the calibration parameters. The estimation of the hand-eye transform between the camera frame and the opto-tracked body of the endoscope is an important issue of the calibration. This paper presents a new stable method for the hand-eye calibration problem. The most popular method estimates the transform directly in the special euclidean group SE(3) by computing separately the rotation and thedoi:10.1109/robot.2010.5509331 dblp:conf/icra/MaltiB10 fatcat:5tvcmy3sxrdg5guf3a3wlw32c4